CN109466535A - Informing device - Google Patents
Informing device Download PDFInfo
- Publication number
- CN109466535A CN109466535A CN201810725817.3A CN201810725817A CN109466535A CN 109466535 A CN109466535 A CN 109466535A CN 201810725817 A CN201810725817 A CN 201810725817A CN 109466535 A CN109466535 A CN 109466535A
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- vehicles
- informing device
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- 230000001133 acceleration Effects 0.000 claims abstract description 40
- 238000012360 testing method Methods 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000033228 biological regulation Effects 0.000 claims description 4
- 230000010485 coping Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 6
- 230000003238 somatosensory effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001427 coherent effect Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 102100024455 DNA repair protein SWI5 homolog Human genes 0.000 description 1
- 101000832371 Homo sapiens DNA repair protein SWI5 homolog Proteins 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention relates to informing device, and it is an object of the present invention to provide a kind of informed in automatic Pilot or when drive supporting according to running environment, occupant thus can be supervised to understand the informing device of running environment occupant is not monitored around.A kind of informing device, in its vehicle that test section with detection ambient enviroment is set, the informing device includes drive control section, its automatic Pilot control for carrying out the vehicle or drive supporting control, and the drive control of the vehicle, wherein, it is controlled under ongoing state in the automatic Pilot control of the vehicle or the drive supporting, when the test section is when the substantially rear of the vehicle detects other vehicles, the drive control section carries out the acceleration control of the vehicle.
Description
Technical field
The present invention relates to informing devices, more particularly to occupant can be supervised to understand row in automatic Pilot or when drive supporting
Sail the informing device of environment.
Background technique
In order to allow occupant to feel to trust in the automatic Pilot of automatic driving vehicle, it is known to display apparatus, it should
Display apparatus have when there is barrier close, by obstacle tag, point out label and direction of travel label with
The HUD device (referenced patent document 1) of the landscape overlapping display of vehicle front.
Existing technical literature
Patent document
Patent document 1:(Japan) special open 2017-091115 bulletin
Summary of the invention
Problems to be solved by the invention
When the occupant of vehicle for example drives as driver manually, the ambient enviroment in front can be monitored by front window.
In addition, the dominant right of driving can be transferred to vehicle by occupant, therefore occupant monitors surrounding in automatic Pilot or when drive supporting
Necessity reduce, it is possible to reduce to the consciousness of ambient enviroment in traveling.
Above-mentioned existing display apparatus can show information in automatic Pilot to supervise leading vehicle of reply etc.
It is when object note that but will not then supervise and multiply in the case where being controlled other than the case where coping with object appropriate as automatic Pilot
Member pays attention to.That is, the occupant being in merely under common driving status will not be reminded in automatic Pilot or when drive supporting
Pay attention to.
Therefore, project to be solved by this invention is to provide one kind in automatic Pilot or when drive supporting according to traveling ring
Border is informed, occupant thus can be supervised to understand the informing device of running environment occupant is not monitored around.
The means to solve the problem
As the means for solving the above subject, the inspection with detection ambient enviroment is arranged in informing device of the invention
In the vehicle in survey portion, the informing device includes drive control section, carries out the automatic Pilot control of the vehicle or drives branch
Help the drive control of control and the vehicle, wherein in the automatic Pilot control of the vehicle or the drive supporting
It controls under ongoing state, it is described to drive when the test section is when the substantially rear of the vehicle detects other vehicles
Sail the acceleration control that control unit carries out the vehicle.
Preferably, in informing device of the invention, in the automatic Pilot control or driving branch of the vehicle
It helps under the ongoing state of control, when the test section detects other vehicles at the rear in lane identical as the vehicle
When, the drive control section control is to carry out the acceleration of the vehicle.
Preferably, in informing device of the invention, in the automatic Pilot control or driving branch of the vehicle
It helps under the ongoing state of control, when the test section detects other vehicles at the rear with vehicle difference lane
When, the drive control section control is at least one in the acceleration and braking of the progress vehicle.
Preferably, in informing device of the invention, in the automatic Pilot control or driving branch of the vehicle
It helps under the ongoing state of control, when the test section is detected in the substantially side in front or other lanes of the vehicle
When other vehicles, the drive control section control is to carry out the braking of the vehicle.
Preferably, in informing device of the invention, in the automatic Pilot control or driving branch of the vehicle
Help under the ongoing state of control, when the test section the vehicle substantially rear and substantially in front of detect other vehicles
When, drive control section control is the braking that carries out the vehicle.
Preferably, in informing device of the invention, the automatic Pilot control or the drive supporting control are being carried out
The vehicle of system be in need the risk factor hidden be not present or seldom state i.e. common driving status when, described in progress
Control of the drive control section to the vehicle.
Preferably, in informing device of the invention, the automatic Pilot control or the drive supporting control are being carried out
The vehicle of system when detecting the risk factor that needs are hidden or should the control to risk factor when carrying out,
Carry out control of the drive control section to the vehicle.
Preferably, in informing device of the invention, when needing to carrying out the automatic Pilot control or described driving
Sail support control the vehicle carry out reply regulation object reply control when, the drive control section preferentially carry out described in answer
To control.
Invention effect
According to the present invention, when being in automatic Pilot state or drive supporting state, when detecting other at substantially rear
When vehicle, occupant can be allowed to be carried out with somatosensory to acceleration not against visual announcement from the acceleration control of vehicle by progress
Know, occupant is allowed to recognize the state from vehicle, situation.Thus, it is possible to which providing a kind of concentrated force monitored to around in occupant can drop
Under low situation, that is, vehicle automatic Pilot state or drive supporting state, it can supervise and multiply occupant is not monitored around
Member understands the informing device of running environment.
Detailed description of the invention
Fig. 1 is the block diagram for indicating the informing device of an embodiment of the invention；
Fig. 2 is the skeleton diagram for overlooking an example for indicating the traveling state of vehicle using informing device shown in FIG. 1；
Fig. 3 is the flow chart of control flow when indicating using informing device shown in FIG. 1；
Fig. 4 is indicated in the case where being different from the running environment of running environment of control flow shown in Fig. 3 using shown in FIG. 1
The flow chart of control flow when informing device；
Fig. 5 is indicated in the case where being different from the running environment of running environment of control flow shown in Fig. 3 using shown in FIG. 1
The flow chart of control flow when informing device；
Fig. 6 is indicated in the case where being different from the running environment of running environment of control flow shown in Fig. 3 using shown in FIG. 1
The flow chart of control flow when informing device.
Symbol description
1: informing device
10: drive control section
20: test section
30: vehicle drive portion
31: speed adjustment section
32: steering portion
A: from vehicle
B~F: other vehicles
Specific embodiment
Below with reference to FIG. 1 to FIG. 3, an embodiment of informing device of the invention is illustrated.
It should be noted that Fig. 1 is the block diagram for indicating the informing device 1 of an embodiment of the invention.In addition, figure
2 be the skeleton diagram for overlooking an example for indicating the traveling state of vehicle using informing device 1 shown in FIG. 1.Fig. 3 is indicated using figure
The flow chart of control flow when informing device 1 shown in 1.
As shown in Figure 1, informing device 1 has drive control section 10.In addition, being equipped with vehicle such as Fig. 1 institute of informing device 1
Show that there is test section 20 and vehicle drive portion 30.In present embodiment, test section 20 can be exported to drive control section 10 and be detected
The information that portion 20 detects, drive control section 10 can be to 30 output drive signals of vehicle drive portion.
Drive control section 10 carries out the automatic Pilot control or the control of height drive supporting of vehicle, and by driving to vehicle
30 output drive signal of portion is moved to carry out the drive control of vehicle.
The automatic Pilot control and the control of height drive supporting of vehicle are by by the master of the acceleration-deceleration of vehicle and steering
Lead wholly or largely being maintained at vehicle side and driving vehicle to carry out for power.The automatic Pilot control that drive control section 10 carries out
System and height drive supporting control the holding degree essentially according to above-mentioned dominant right and are divided into multiple grades, according to ring around
Border etc., drive control section 10 change Driving control grade.As the Driving control grade, NHTSA etc. can be used for example and adopted
Automatic Pilot grade defined in SAE J3016 (2016).It should be noted that it is so-called to be referred to as according to SAE J3016
Automatic Pilot is SAE3~5 grade.
In present embodiment, drive control section 10 can continue the ambient enviroment phase for constructing and updating with persistently change at any time
Corresponding driving scene.It should be noted that the relevant information of the ambient enviroment for constructing driving scene, can be used detection
The information that portion 20 detects.
As drive control section 10, control used in common automatic driving vehicle or drive supporting vehicle can be used
With arithmetic processing apparatus etc..Existing arithmetic processing apparatus can be used in drive control section 10 in present embodiment, but refers to
Fig. 2 and Fig. 3 can carry out the specific drive control of vehicle drive portion 30 as described later under specific running environment.
Vehicle drive portion 30 has speed adjustment section 31 and steering portion 32.The acceleration that speed adjustment section 31 passes through progress vehicle
The speed of vehicle is adjusted with braking.Steering portion 32 adjusts the direction of travel of vehicle by adjusting the direction of wheel.
As speed adjustment section 31, the accelerator pedal and braking that occupant side can be operated in manual drive can be used
Device, vehicle side carry out ECU (control unit of engine) of engine control etc..As steering portion 32, occupant can be used can
Wire-controlled steering system (ス テ ア リ Application グ バ イ ワ イ ヤ シ ス テ system) that the transfer of operation, vehicle side are controlled etc..
Test section 20 is the component of situation, state, environment outside detection car etc., is the surrounding's ring at least detecting vehicle
The component from the vehicle-state of vehicle and other vehicles etc. is preferably detected in border.It, can as the coherent detection object of vehicle-periphery
To enumerate other vehicles and barrier etc..As the coherent detection object of vehicle-state, can enumerate from vehicle and other vehicles
Position, direction of travel, velocity and acceleration etc..
As test section 20, various sensors, camera etc. specifically can be used, the detection of ambient enviroment can also pass through
Communication device obtains information from outside.
Fig. 2 is combined herein, and the running environment for the informing device 1 that present embodiment can be used is illustrated.Shown in Fig. 2
More trolleys be all to the i.e. state of traveling ahead above attached drawing.Vehicle A shown in the substantially central portion of Fig. 2 is certainly
Vehicle is other vehicles in vehicle B, C, D, E and the F travelled from around vehicle A.Other vehicles B, C and D from vehicle A substantially after
Side's traveling, other vehicles E are travelled in substantially front or the traveling ahead from vehicle A, other vehicles F from the side of vehicle A.
It should be noted that as other vehicles relative to the region division from the rear that vehicle A is travelled, front and side,
It can suitably be defined as long as it can reach the purpose of the present invention, such as can be by being mounted on the various biographies of automatic driving vehicle etc.
It in sensor and camera, is used according to rear detection, front detection is used and side is detected and divided with respectively detectable region.?
That is the vehicle detected by rear detecting sensor etc. become relative to from vehicle A behind other vehicles；
The vehicle detected by front detecting sensor etc. become relative to from vehicle A traveling ahead other vehicles；Pass through side
The vehicle that square detecting sensor etc. detects becomes relative to other vehicles travelled from vehicle A in side.
Automatic Pilot control and drive supporting control include: reply control, be used to hide around travel vehicle and
Risk factor caused by the various objects such as barrier；And common traveling control, for for need to hide it is dangerous because
The Driving control of normally travel when element is not present or seldom controls without coping with.It is shown in Fig. 2 from vehicle A and other vehicles B~F
The following distance that can be driven safely each other respectively is remain, is not not hide other vehicles B~F rapidly from vehicle A vehicle will occur
The dangerous situations such as contact.That is, running environment shown in Fig. 2 is to carry out automatic Pilot control and drive supporting
The state of common traveling control in control, i.e., can be in common driving status downward driving from vehicle A.It should be noted that detecting
In the various objects that portion 20 is detected, risk factor is to be judged as only allowing the factor hidden from vehicle and be just able to maintain safety traffic.
In the state of the automatic Pilot control or the control of height drive supporting that carry out vehicle by above-mentioned drive control section 10
Under, for example, when limited highway etc. when driving, the Ordinary Rd that may exist with crossroad, other vehicles, pedestrian etc.
It compares, the variation from the ambient enviroment of vehicle is less.But even when automatic Pilot controls or when drive supporting controls, with hand
Identical when dynamic driving, occupant must also monitor ambient enviroment.Occupant is difficult that concentrated force is kept constantly to monitor around consistent
Environment.When occupant declines the concentrated force that surrounding monitors, even if infuse by visual prompting using HUD etc. in car room
Meaning shows and is informed that occupant is also possible to not to be noted show content.
Then, in conjunction with Fig. 3 of flow chart, to using control flow when informing device 1 shown in FIG. 1 to be illustrated.
Firstly, being driven according to the relevant drive signals of the acceleration-deceleration of the vehicle exported to vehicle drive portion 30 and steering
Control unit 10 differentiates that whether there is or not automatic Pilot control or drive supporting controls (step S1).This step only differentiates that whether there is or not Driving controls
The control that portion 10 itself is carried out, therefore can differentiate that whether there is or not driving signals.When drive control section 10 is defeated to vehicle drive portion 30
Can serve as out drive dominant right driving signal wholly or largely when, due to can differentiate be vehicle automatic Pilot control
State processed or drive supporting state of a control, therefore it is transferred to next step ("Yes" of step S1).If not exporting the driving signal,
Then this control flow terminates ("No" of step S1).
Then, drive control section 10 carries out the automatic Pilot control or drive supporting control of vehicle, and drive control section
10 discriminate whether commonly to travel state of a control (step S2).This step is identical as previous step (step S1), and differentiates have
The control that no drive control section 10 is carried out itself, therefore, when having the relevant drive signals of common traveling state of a control to vehicle
When driving portion 30 exports, alternatively, when in the ambient enviroment in vehicle there is no whens the barrier etc. for needing to hide etc. replies control,
It can be determined as commonly travelling state of a control, therefore be transferred to next step ("Yes" of step S2).When no commonly traveling control
Relevant drive signals output when, alternatively, when test section 20 detect barrier etc. and export reply control coherent signal when,
Then this control flow terminates ("No" of step S2).
Then, differentiate that whether there is or not other vehicles (step S3) at the substantially rear from vehicle.In this step, when test section 20 is certainly
When the substantially rear of vehicle detects other vehicles, it is transferred to next step ("Yes" of step S3).When test section 20 is from vehicle
When substantially other vehicles are not detected in rear, then keep common traveling state of a control and terminate this control flow (step S3's
"No").
It should be noted that as other vehicles in the substantially behind from vehicle, such as can enumerate shown in Fig. 2
Other vehicles B, C and D.In present embodiment, if not depending on lane to detect from the rear of vehicle rear side test section institute energy
Other vehicles detected, then as the vehicle in the substantially behind from vehicle.
Other vehicles are determined in the vehicle ("Yes" of step S3) of substantially behind, drive control section 10 is to vehicle
Driving portion 30 carries out the acceleration from vehicle and controls (step S4).By this step, when detecting as shown in Figure 2 its at substantially rear
When other vehicles as his vehicle B, C and D etc., occupant can be allowed to feel acceleration by carrying out the acceleration control from vehicle
Degree.It allows occupant to feel that acceleration belongs to not against vision, the informing of the sense of hearing, therefore feels that the occupant of acceleration can feel to send out
What has been given birth to, and then can be appreciated that the state and situation from vehicle.That is, occupant can be appreciated that the running environment from vehicle.
Running environment is with low uncertainty in common traveling state of a control, therefore occupant is easy drop to the concentrated force that surrounding monitors
It is low.By the informing mode of informing device 1, even if occupant does not monitor surrounding, or even if the precision of surrounding monitoring reduces, also can
Occupant is supervised to understand running environment.
It should be noted that in above embodiment, when carrying out automatic Pilot control or the control of height drive supporting
The acceleration control that will do it when being in common driving status from vehicle A from vehicle A, and when detecting that needs pass through reply in the present invention
When controlling hide equal regulation object, or when carrying out reply and controlling, the acceleration control from vehicle can also be carried out
Uniform velocity adjustment control processed.As a result, under the situation for needing to recognize ambient enviroment compared with common driving status, it can supervise
Around occupant monitors, therefore it is preferred that.
When sensor appropriate or camera etc. detect the objects such as other vehicles or barrier, need to carry out by adding
Speed deceleration and steering etc. control to hide the reply of the object etc..The dominant right of driving is transferred from vehicle side in view of when urgent
A possibility that occupant side, if object close to since vehicle and in the state of become carrying out reply control just supervise occupant
Understand running environment, then when being switched to the manual drive of occupant's progress, the reply for object may be late.Therefore,
Informing device of the invention can supervise occupant to understand and carrying out the acceleration control of vehicle under commonly traveling state of a control
Running environment, the situation for cope with control be directed to occupant are ready.
In addition, when reply control is put into Driving Scene, or when reply control has begun, for of the invention
The control that informing device is carried out, preferably replacement (submit a written statement to a higher authority I) force the control for the acceleration releasing for carrying out vehicle to carry out.Such as
This one, relative to the control that informing device of the invention is carried out, preferential to control should carry out.Specifically, being answered when generating
Necessity to control or when carrying out reply control, preferably stops the acceleration of vehicle, while continuing before the acceleration control of vehicle
The driver behavior carried out.The shape of the common traveling control of the progress before accelerating control can be returned to approximately from vehicle and occupant as a result,
State.That is, accelerate control before running environment with produce carry out reply control status running environment because of
Stop accelerating control and variation is smaller, so as to reduce deviation, occupant is made not feel good, seamlessly understand traveling ring
Border.
In addition, in this case, when detecting the regulation object that hide or ought answered above-mentioned
It is carried out when to control from after this control of the speed adjustment control of vehicle, the preferably replacement control of progress the method.Thus, it is possible to
Restore the concentrated force that occupant monitors surrounding, and occupant can without sense of discomfort be supervised to understand running environment.
In present embodiment, the presence or absence of automatic Pilot control or the control of height drive supporting shown in Fig. 3 and common row
It sails the presence or absence of control to differentiate in step S1 and S2 respectively, but in the present invention, as long as can differentiate that occupant's concentrated force can decline
Situation, then can also complete to differentiate in one step.
In the present invention, as long as from vehicle acceleration control duration and acceleration degree occupant can with somatosensory to
The time of acceleration and degree can be then appropriately arranged with.
Fig. 4~6 shown below are indicated in the case where being different from the running environment of running environment of control flow shown in Fig. 3
The flow chart of control flow when using informing device 1 shown in FIG. 1.
Control flow shown in Fig. 4 is to be divided in other vehicles from the substantially behind of vehicle with traveling lane to carry out
Other controls.
Firstly, as shown in figure 4, progress automatic Pilot control or height drive supporting control, and drive control section 10 is sentenced
The step of not whether not being common Driving control state (step S1 and step S2) and drive control section 10 differentiate from vehicle substantially
The step of whether there is or not other vehicles at rear (step S3) is identical as control flow shown in Fig. 3.
Then, when detecting there are being other vehicles as other vehicles B, C and D shown in Fig. 2 from the substantially rear of vehicle A
When ("Yes" of step S3), drive control section 10 can differentiate other vehicles that previous step (step S3) detects whether with from vehicle
In same lanes (step S5).In this step, when other vehicles for finding to detect according to the testing result of test section 20
Relationship as above-mentioned other vehicles B and from vehicle A with next step (step S5, in same lanes, is transferred to from vehicle
"Yes").When other vehicles with from vehicle in same lanes ("Yes" of step S5), with control flow phase shown in Fig. 3
Together, it carries out the acceleration from vehicle and controls (step S4).
In addition, when other vehicles that detect as above-mentioned other vehicles C and D with the relationship from vehicle A not and from garage
It sails at same lane, that is, when traveling is at other lanes ("No" of step S5), then progress is controlled and braked from the acceleration of vehicle
At least one (step S41) in control.
(step S4) either is controlled from the acceleration of vehicle, or acceleration control or control for brake (step S41) from vehicle, all
It can allow occupant with somatosensory to acceleration, therefore understanding of the occupant to running environment may be implemented.When other vehicles at rear
In same lanes, though other vehicle abnormalities close in the case where, be also easy to be transferred to from from the acceleration of vehicle control
Reply for hiding other vehicles controls.In addition, when other vehicles at rear are in other lanes, even if in other vehicles
In the case that exception is close, due to lane difference, with the same lane the case where compared with the emergency hidden it is low, so there is no need to
Acceleration control must be carried out, control for brake can also be carried out.In addition, in the case where other lanes, it can also be by temporary
It carries out carrying out control for brake on the basis of acceleration control, (can also be in reverse order) allows acceleration to change, from body
Sensuously differentiated with the case where same lane.
It should be noted that the control for brake from vehicle in the present invention not only includes the mode slowed down using brake, also
It may include releasing accelerate the mode of control, release the mode of Driving control for keeping certain speed etc..
Then, control flow shown in fig. 5 is to carry out other controls according to the traveling-position of other vehicles.
Firstly, as shown in figure 5, progress automatic Pilot control or height drive supporting control, and drive control section 10 is sentenced
The step of not whether not being common Driving control state (step S1 and step S2) and drive control section 10 differentiate from vehicle substantially
The step of whether there is or not other vehicles at rear (step S3) is identical as control flow shown in Fig. 3.
Then, when detecting there are being other vehicles as other vehicles B, C and D shown in Fig. 2 from the substantially rear of vehicle A
When ("Yes" of step S3), carry out controlling (step S4) from the acceleration of vehicle.
In addition, when ("No" of step S3), drive control section 10 when other vehicles are not detected from the substantially rear of vehicle
Differentiate that whether there is or not other vehicles (step S6) from the front of vehicle or side.In this step, when the testing result according to test section 20,
When detecting other vehicles as other vehicles E or F shown in Fig. 2 from the front of vehicle A or side ("Yes" of step S6),
Carry out the control for brake (step S42) from vehicle.By the control for brake from vehicle, occupant can be allowed to be caused with somatosensory to braking
Acceleration, therefore can supervise occupant understand running environment.
In addition, when other vehicles are not detected from substantially rear, front and the side of vehicle (step S6's
"No"), then acceleration control and control for brake are not carried out to from vehicle, and be to maintain common traveling and control and terminate this control flow.
In embodiment shown in fig. 5, when from vehicle front or side have other vehicle drivings when, carry out from the system of vehicle
Dynamic control.Even if especially other vehicles of traveling ahead and it is extremely close from vehicle in the case where, be also easy from the system from vehicle
The reply that dynamic control is transferred to other vehicles for hiding front controls, therefore it is preferred that.
Then, control flow shown in fig. 6 is the priority that control is arranged according to the traveling-position of other vehicles.
Firstly, as shown in fig. 6, progress automatic Pilot control or height drive supporting control, and drive control section 10 is sentenced
The step of not whether not being common Driving control state (step S1 and step S2) and drive control section 10 differentiate from vehicle substantially
The step of whether there is or not other vehicles at rear (step S3) is identical as control flow shown in Fig. 3.
Then, when detecting there are being other vehicles as other vehicles B, C and D shown in Fig. 2 from the substantially rear of vehicle A
When ("Yes" of step S3), drive control section 10 differentiates that whether there is or not other vehicles (step S6) from the front of vehicle or side.
In addition, when other vehicles are not detected from the substantially rear of vehicle ("No" of step S3), then this control flow
Terminate.
From vehicle A front or side detect other vehicles as other vehicles E or F shown in Fig. 2 when (step
The "Yes" of S6), carry out the control for brake (step S42) from vehicle.In addition, when detecting other vehicles from the substantially rear of vehicle,
And when other vehicles are not detected in front and side ("No" of step S6), then carry out the acceleration from vehicle and control (step S4).
By control for brake from vehicle or accelerate to control as a result, occupant can be allowed to be drawn with somatosensory to braking or acceleration
The acceleration risen, therefore occupant can be supervised to understand running environment.
In embodiment shown in fig. 6, compared to its of in front of from the substantially rear of vehicle, preferentially being coped with or side traveling
The control of his vehicle.This is because in view of from needed for vehicle reply control urgency level, with traveling substantially rear other
Vehicle be abnormal close situation from vehicle and compare, especially traveling is abnormal in other vehicles in front and from vehicle close
The case where one side urgency level be possible to rise, it is therefore preferred to the preferential control for brake carried out from vehicle.
The embodiment for the invention completed above to application the present inventor is illustrated, but the present invention is not limited to constitute
The discussion of a part disclosed by the invention of the embodiment and attached drawing.That is, those skilled in the art etc. are based on the embodiment
Other embodiments, embodiment and application technology for being made etc. should be also integrally incorporated within scope of the invention.
Claims (8)
1. a kind of informing device is arranged in the vehicle of the test section with detection ambient enviroment, the informing device is included
Drive control section carries out the automatic Pilot control of the vehicle or drive supporting controls and the driving of the vehicle
Control,
Wherein, in the case where the automatic Pilot control of the vehicle or the drive supporting control ongoing state, work as institute
Test section is stated when the substantially rear of the vehicle detects other vehicles, the drive control section carries out the acceleration of the vehicle
Control.
2. informing device according to claim 1, wherein in the automatic Pilot control of the vehicle or the driving
It supports and controls under ongoing state, when the test section detects other vehicles at the rear in lane identical as the vehicle
When, the drive control section control is to carry out the acceleration of the vehicle.
3. informing device according to claim 1 or 2, wherein the vehicle the automatic Pilot control or it is described
Drive supporting controls under ongoing state, when the test section detects other at the rear with vehicle difference lane
At least one of when vehicle, in acceleration and braking of the drive control section control to carry out the vehicle.
4. informing device described in any one of claim 1 to 3, wherein in the automatic Pilot control of the vehicle
System or the drive supporting control under ongoing state, when the test section is in substantially front or other vehicles of the vehicle
When the side in road detects other vehicles, the drive control section control is to carry out the braking of the vehicle.
5. informing device according to any one of claims 1 to 4, wherein in the automatic Pilot control of the vehicle
System or the drive supporting control under ongoing state, when the test section the vehicle substantially rear and substantially before
When side detects other vehicles, the drive control section control is to carry out the braking of the vehicle.
6. informing device according to any one of claims 1 to 5, wherein carrying out the automatic Pilot control or
In needing, the risk factor hidden is not present the vehicle of the drive supporting control or seldom state commonly travels
When state, control of the drive control section to the vehicle is carried out.
7. informing device described according to claim 1~any one of 6, wherein carrying out the automatic Pilot control or
The vehicle of the drive supporting control when detecting the risk factor that needs are hidden or is carrying out coping with the danger
When the control of dangerous factor, control of the drive control section to the vehicle is carried out.
8. informing device according to any one of claims 1 to 7, wherein when needing to described drive automatically
Sail control or the drive supporting control the vehicle carry out reply regulation object reply control when, the drive control section
Preferentially carry out the reply control.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017173085A JP2019048521A (en) | 2017-09-08 | 2017-09-08 | Notification device |
| JP2017-173085 | 2017-09-08 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109466535A true CN109466535A (en) | 2019-03-15 |
Family
ID=65441717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810725817.3A Pending CN109466535A (en) | 2017-09-08 | 2018-07-04 | Informing device |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US10864919B2 (en) |
| JP (1) | JP2019048521A (en) |
| CN (1) | CN109466535A (en) |
| DE (1) | DE102018116760A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021088780A1 (en) * | 2019-11-07 | 2021-05-14 | Ningbo Geely Automobile Research & Development Co., Ltd. | Threat mitigation for vehicles |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019132577A1 (en) * | 2019-12-02 | 2021-06-02 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle guidance system and method for ending automated vehicle guidance |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20190077415A1 (en) | 2019-03-14 |
| JP2019048521A (en) | 2019-03-28 |
| DE102018116760A1 (en) | 2019-03-14 |
| US10864919B2 (en) | 2020-12-15 |
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